CN105745061A - A laying device and a method for the laying of fibre tapes - Google Patents
A laying device and a method for the laying of fibre tapes Download PDFInfo
- Publication number
- CN105745061A CN105745061A CN201480063656.6A CN201480063656A CN105745061A CN 105745061 A CN105745061 A CN 105745061A CN 201480063656 A CN201480063656 A CN 201480063656A CN 105745061 A CN105745061 A CN 105745061A
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- CN
- China
- Prior art keywords
- creel
- positioner
- laying apparatus
- installed part
- paving head
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
- B29C70/388—Tape placement heads, e.g. component parts, details or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C31/00—Handling, e.g. feeding of the material to be shaped, storage of plastics material before moulding; Automation, i.e. automated handling lines in plastics processing plants, e.g. using manipulators or robots
- B29C31/04—Feeding of the material to be moulded, e.g. into a mould cavity
- B29C31/08—Feeding of the material to be moulded, e.g. into a mould cavity of preforms to be moulded, e.g. tablets, fibre reinforced preforms, extruded ribbons, tubes or profiles; Manipulating means specially adapted for feeding preforms, e.g. supports conveyors
- B29C31/085—Feeding of the material to be moulded, e.g. into a mould cavity of preforms to be moulded, e.g. tablets, fibre reinforced preforms, extruded ribbons, tubes or profiles; Manipulating means specially adapted for feeding preforms, e.g. supports conveyors combined with positioning the preforms according to predetermined patterns, e.g. positioning extruded preforms on conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/386—Automated tape laying [ATL]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/30—Vehicles, e.g. ships or aircraft, or body parts thereof
- B29L2031/3076—Aircrafts
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Robotics (AREA)
- Moulding By Coating Moulds (AREA)
- Road Paving Structures (AREA)
- Manipulator (AREA)
Abstract
Disclosed is a laying device for the automated laying of fibre tapes on a surface, wherein a creel is arranged on an independent positioning device that can be individually traversed in three dimensions, and tracks the movements of a laying head; and also disclosed is a laying method.
Description
Technical field
The present invention relates to preamble according to claim 1 for fiber band being laid automatically laying apparatus from the teeth outwards, and for fiber band is laid method from the teeth outwards automatically.
Background technology
In lightweight construction, particularly in the lightweight construction in Flight Vehicle Structure and space travel, fibre-reinforced composite component is applied to structure member widely with ever-increasing degree；Owing to the intensity height of fibre-reinforced composite component has low quality simultaneously, therefore fibre-reinforced composite component has the potentiality that high weight is saved.
Herein, mechanical performance (such as such as rigidity and bearing capacity) is had conclusive impact by fortifying fibre alignment in composite component.Fortifying fibre should follow the final loading direction of parts in ideal conditions, should not have waviness, and should bear mechanical load as homogeneously as possible.
Provided for realizing a kind of possible of requirement outlined above by so-called fibre placement method (FP method).Herein, this fiber band pre-preg of fiber band has thermoplastic material or thermoset plastic material, strengthened by fortifying fibre, and there is paving head that width between several millimeters (such as about 3mm) and several centimetres (such as 20cm) guides by means of robot be laid on shaped base along the track of regulation.Process of deployment repeats in an automated way until FP-blank or the preformed member set up continuously have been realized in desired geometry and material thickness.Automatic process of deployment allows a large amount of reliable reproduction that manufacture, fiber composite component that simultaneously have low manufacturing cost physical dimension.Laying preferably along guaranteeing that track that fortifying fibre extension in component end item is directed at power flow path occurs by the fiber band (so-called prepreg tape) of manufacturer's pre-preg.
Processing further of parts carries out according to the plastic material arranged in the molding of matrix after the end of process of deployment.As fruit fiber band is such as formed by curable thermoset plastic material such as such as epoxy resin, then the solidification of blank generally occurs to complete composite component along with the applying of pressure and/or temperature.The fiber band being impregnated with thermoplastic material has required the high temperature of such as up to 450 DEG C during process of deployment, to keep enough flexibilities of fiber band.When thermoplastic fibre band, complete do not have other process step to carry out afterwards in fibre placement process of deployment；Blank active cooling or be passively cooled to room temperature and be sufficient to.But, when thermoplastic fibre band, in autoclave, carry out consolidating being also likely to be necessity in some cases subsequently.
Replace laying pre-preg or dipping fiber band, it is possible to use FP method lays dry fibers band；In this case, thus produced preformed member (pre-form) can use injection or infusion methods to fill with resin after process of deployment, and is cured.Such FP method is known as dry fibers allocation method, or straight tow disposes (directtowplacement) method.
Fiber band is generally wound on bobbin, and described bobbin is stored in so-called creel adjacent to each other.In the laying apparatus of known technology, creel is attached to paving head.Such paving head is characterised by high weight and complicated structure, and thus complicated structure causes the replacing of bobbin more difficult.
In substituting laying apparatus, creel is arranged in moveable base platform together with paving head.Herein, creel is arranged with the distance certain from paving head；This needs to guide fiber band through multiple jockey pulleys and deflection roll.Be directed through jockey pulley and deflection roll makes fiber band be exposed to pollution in the way of being not protected.Additionally, the warpage of fiber band or distortion are likely to following, fiber band alignment in paving head is had injurious effects by this.
In another laying apparatus of known technology, wherein, creel positions dividually with paving head in the side zones of device, and fiber band is guided through Bowden cable-type passage.Although passage substantially protects fiber band from environmental effect, but passage itself is likely to contaminated, and these pollutant are likely to deposit on fiber band.Additionally, channel lead system is complicated technically.
Summary of the invention
It is an object of the invention to create a kind of for fiber band is laid laying apparatus from the teeth outwards automatically, laying apparatus its make it possible to maintain short distance between paving head and creel independent of any specific paving head position and also achieve the simple replacing of creel.Additionally, it is a kind of for fiber band is laid method from the teeth outwards automatically to it is an object of the invention to establishment.
This purpose is by having the laying apparatus of the feature of claim 1 and realizing by having the method for the feature of claim 9.
Laying apparatus for fiber band is laid the present invention from the teeth outwards automatically has paving head installed part and creel installed part, and wherein, paving head installed part is arranged on the positioning device and is used for housing paving head, and creel installed part is used for housing creel.According to the present invention, creel installed part is arranged on (traversable) positioner that can be independently controlled and can translate, it is possible to by positioner, the motion of paving head is tracked.
Independence by means of paving head and creel is arranged, and combines paving head installed part and therefore tracking to the movement locus of paving head, it is possible to set constant and minimum especially distance between creel and paving head always.In view of the relative position between creel and paving head owing to creel does not change relative to the separately installed of paving head and TRAJECTORY CONTROL, therefore the guiding of fiber band can be simplified technically, that is, it is possible to omit independent jockey pulley, deflection roll and analog.The pollution that fiber band causes due to environmental effect is reduced to minimum, or is completely eliminated, even at do not have complexity channel lead part when be also such.Simultaneously, it is possible to trace lines pedestal is so that eliminating the less desirable distortion of fiber band, so that fiber band is supplied to paving head in the way of optimally aligned.Additionally, due to creel installed part separates with paving head, i.e. separate with paving head, therefore simplify any replacing of creel, and it thus provides good accessibility.
Laying apparatus can have multiple creel installed part.In this way, laying apparatus such as can simultaneously equipped with the creel with different fiber bandwidth so that can be replaced between each fiber bandwidth almost without any interruption in process of deployment.Alternatively and/or additionally, laying apparatus can equipped with multiple creels with identical fibre bandwidth so that can touch full creel after a creel is finished almost without any interruption.
In an example of embodiment, multiple creel installed parts are arranged on the positioner that can be independently controlled.In this way, it is possible to increase the motility of laying apparatus further.Thus, for instance, in the process of process of deployment, this ceases to be busy creel arrangement of ceases to be busy pedestal can replace with full creel on himself positioner when process of deployment does not have any interruption.Additionally, during process of deployment, laying apparatus can be ready for process of deployment subsequently and laying apparatus equipped with suitable creel.
When providing at least one more changing device, the replacing of creel can carry out automatically, and by means of this more changing device, at least one creel is removed from its installed part and installed part can equipped with creel that is new or that replace.
If the positioner addressed can move in suitable replacing position, then can improve Renewal process further.
In an example of embodiment, at least one positioner of at least one creel installed part is articulated arm robots.Such roboting features is in that the maximum degree of freedom in its motion so that when even at the sphere of high complexity, creel still can follow paving head with very near distance.
In the alternative exemplary of embodiment, at least one positioner of at least one creel installed part is portal robot.Such robot needs less complicated control compared with articulated arm robots and regulates electronic installation.
The positioner being associated with creel is than the positioner being associated with paving head preferably many at least ones degree of freedom.In this way, the positioner being associated with creel can be nearly independent of the positioner being associated with paving head and be erected at around in section, this is because owing to increasing at least one degree of freedom, it is possible to a little compensate for different being erected to.
In the method being used for automatically laying fiber band the present invention from the teeth outwards, particularly for the purpose of the laying apparatus controlling the present invention, paving head and creel are arranged on the positioner that can be independently controlled, and the positioner of creel is controlled so as to, namely move in space so that creel follow the trail of paving head motion.
Except simple creel is changed, the method for the present invention makes it possible to maintain little distance between paving head and creel.As arrived to the eye, creel is arranged in the dead astern of paving head, and due to this, fiber band is only steered through the little open distance between creel and paving head.
Other favourable examples of embodiments of the present invention are the themes of other dependent claims.
Accompanying drawing explanation
Next the preferred exemplary of embodiments of the present invention will be illustrated in more detail by means of highly simplified schematic diagram.Single accompanying drawing 1 illustrates the basic function structure of the example of the embodiment of the laying apparatus of the present invention.
Detailed description of the invention
Fig. 1 illustrates the schematic diagram of the laying apparatus 1 of the present invention, and this laying apparatus 1 is for automatically laying fiber band 2 on the surface 4 to build composite component.Herein, surface 4 is formed by mould, and this mould such as depicts the fuselage cover of Flight Vehicle Structure.Therefore, herein, the exemplary composite component produced is fuselage cover.
In this example of embodiment, mould 6 is mounted in a fixed manner and mould 6 extends mainly along x direction and the z direction of the coordinate system shown in Fig. 1.Much less, mould 6 can also be mounted so as to it and can planar or in three dimensions translate.
Laying apparatus 1 makes it possible to perform so-called fibre placement method (FP method), and wherein, fiber is routed on surface 4 with 2 along following track: the power flow path alignment that described track is relevant with composite component to be produced.For purposes of clarity, a fiber is assigned with a label with 2 and is used as the representative of all fibres band.
Fiber band 2 is such as so-called prepreg tape material.But, alternatively, fiber band 2 can also be dry fibers band.Therefore, laying apparatus 1 is not limited to or only the laying or the laying of only dry fibers band of pre-impregnated fiber band.Laying apparatus 1 is unrelated with the degree of the dipping of fiber band, and therefore laying apparatus 1 allows the operation of both pre-impregnated fiber band and dry fibers band.Pre-impregnated fiber band and dry fibers band strengthen preferably by the carbon fiber in the plastic substrate being embedded in thermoplastic material or thermoset plastic material.Alternatively it is possible to arrange any organic reinforced fiber and/or inorganic reinforcing fiber, as long as the mechanical load-bearing capacity of regulation is provided by the composite component using FP method to produce.In order to guarantee flexibility and the operability of fiber band during FP method, when thermoplastic resin matrix, it may be necessary to depend on that fiber is such as heated temperature to as high as about 450 DEG C with 2 by means of laser beam by the certain material character of thermoplastic.
Laying apparatus 1 has paving head 8 and at least one creel 10.Paving head 8 allows to be laid on its material aspect and fiber bands 2 all different in its thickness and width.
Paving head 8 has backer roll unit 12, guide member, cutter sweep and heater, wherein, backer roll unit 12 is for being pressed into surface 4 by fiber band 2, guide member is for introducing paving head 8 by fiber band 2 from creel, cutter sweep is for cutting into suitably sized by fiber band 2, and heater is for heating fiber band 2 alternatively to operating temperature.Backer roll unit 12, guide member, cutter sweep and heater are general types, wherein, for the sake of clarity they are not represented.
Creel 10 has multiple bobbin 14, and each bobbin 14 can house fiber band 2.Bobbin 14 is arranged in creel 10 on unshowned parallel bobbin axis.Herein, bobbin 14 be arranged so that fiber with 2 by be parallel to each other and preferably in one plane in the way of be brought out creel 10.
In order to change creel 10, for instance, in order to ceases to be busy pedestal changes into full creel, laying apparatus 1 has unshowned more changing device.
Paving head 8 and creel 10 are arranged in by means respectively of the paving head installed part 16 of laying apparatus 1 and creel installed part 18 in each case can by positioner 20,22 that is that independently, be namely individually controlled and that can translate.Positioner 20,22 allows paving head 8 and creel 10 freely to position in three dimensions, and therefore positions relative to the surface 4 of mould 6.In this example of embodiment, positioner 20,22 is embodied as arm robot.Especially, the positioner that is associated with creel 22 is embodied as articulated arm robots herein, and as seen below, this positioner 22 is compared to positioner more than the 20 at least one degree of freedom being associated with paving head.But, positioner 20,22 can also be portal robot.Paving head 8 and the creel 10 individually layout on the positioner 20,22 that can be independently controlled with multiple degree of freedom makes it possible to be followed the trail of the motion of paving head 8 and therefore, it is possible to the immovable relative position of the current location independent of paving head 8 realized between paving head 8 and creel 10 by creel 10.By this method, especially, being possibly realized carrying out guide wire pedestal 10 from the little of paving head 8 and constant distance place, fiber is possibly realized relative to the optimally aligned of paving head 8 and providing for simple replacement of of creel too with 2.Distance between creel 10 and paving head 8 with the unlimited length between creel 10 and paving head 8 of 2, does not namely have the length of the part of any guide member corresponding to fiber.
In the example of the embodiment being shown here at, be connected to the positioner 22 that creel is associated to be positioned at above the positioner 20 that paving head is associated around section.
Herein, the positioner 20 of paving head 8 there is base portion 24, swivel head 28 on the pivotal arm 26 that is hinged on base portion 24 and the free end being arranged on pivotal arm 26.Swivel head 28 houses paving head installed part 16 by swivel plate 30 and therefore houses paving head 8.In order to lay on the surface 4 according to predetermined track by fiber band 2, base portion 24 at least can translate linearly along the x direction according to coordinate system, and be accordingly parallel to mould 6 and translate.Additionally, base portion 24 such as can also be arranged on cross table, and therefore can translate linearly in the y-direction similarly, and therefore translates along the dimension linear of mould 6.Pivotal arm 26 can pivot around the pivot axis 32 extended in the x-direction.Swivel head 28 can rotate at least about the rotation axis 34 being parallel to pivot axis extension.Swivel plate 30 can rotate around the translated axis line 36 orthogonal with the rotation axis of swivel head 28.
Positioner 22 herein has two pivotal arms 38,40, pivotal arm 38,40 be arranged in base portion 42 with there is swivel plate 46 swivel head 44 between and be connected to each other in the way of engaging.By means of pivotal arm 38,40, it is possible to make a change in the distance between creel 10 and mould 6 (i.e. paving head 8) in the y-direction.Base portion 42 can translate along the x dimension linear according to coordinate system, and be accordingly parallel to mould 6 and translate.It addition, base portion 42 can pivot around the vertical axis 48 extended in the z-direction.It addition, base portion 42 such as can also be arranged on cross table, and therefore can translate linearly in the y-direction similarly, and therefore translate along the dimension linear of mould 6.Due to the option making base portion 42 rotate around vertical axis 48, the pivotal arm 38 being therefore associated with base portion can pivot around pivot axis 50 in x-y plane.The pivotal arm 40 being associated with swivel head can pivot relative to the pivotal arm 38 being associated with base portion by being parallel to the engagement axis 52 of pivot axis 50 extension.Swivel head 44 can rotate at least about the rotation axis 54 being parallel to pivot axis 50 and engagement axis 52 extension.Swivel plate 46 can rotate around the translated axis line 56 orthogonal with the rotation axis 54 of swivel head 44.
The present invention by fiber with in 2 processes automatically laying on the surface 4, the positioner 22 of accommodating creel 10 controls into and makes it with constant or follow the trail of for laying the motion of paving head that fiber is with 2 close to constant distance.As viewed from surface 4, creel 10 is arranged in the dead astern of paving head 8, and thus, distance a and therefore fiber are minimized with the unlimited length between creel 10 and paving head 8 of 2.Creel 10 does not change ideally relative to the position of paving head 8 so that fiber band 2 not only supplies with constant distance a, and supplies in the way of optimally aligned with paving head 8.
The invention discloses a kind of for fiber band is laid laying apparatus from the teeth outwards automatically, wherein, creel is arranged on independent positioner, and this independent positioner can translate in three dimensions individually, and creel can follow the trail of the motion of paving head；The invention also discloses a kind of laying method.
Reference numerals list
1 laying apparatus
2 fiber bands
4 surfaces
6 moulds
8 paving heads
10 creels
12 backer roll unit
14 bobbins
16 paving head installed parts
18 creel installed parts
20 positioners
Claims (9)
1. a laying apparatus (1), described laying apparatus (1) is for being automatically laid on surface (6) by fiber band (2), described laying apparatus (1) has that to be arranged in positioner (20) upper and be used for housing the paving head installed part (16) of paving head (8) and be used for housing the creel installed part (18) of creel (10)
It is characterized in that,
Described creel installed part (18) is arranged on the positioner (22) that can be independently controlled and can translate, it is possible to follow the trail of the motion of described paving head installed part (16) by means of described positioner (22).
2. laying apparatus according to claim 1, wherein,
Described positioner (22) has multiple creel installed part (18).
3. laying apparatus according to claim 1 and 2, wherein,
The positioner (22) that can be independently controlled is provided with multiple creel installed part (18).
4. the laying apparatus according to claim 1,2 or 3, wherein,
Arrange the more changing device for automatically changing at least one creel (18).
5. according to a described laying apparatus in aforementioned claim, wherein,
At least one described creel installed part (18) can move in replacing position.
6. according to a described laying apparatus in aforementioned claim, wherein,
At least one described positioner (22) of at least one described creel installed part (18) is articulated arm robots.
7. according to a described laying apparatus in claim 1 to 5, wherein,
At least one described positioner (22) of at least one described creel installed part (18) is portal robot.
8. according to a described laying apparatus in aforementioned claim, wherein,
Described positioner (20) many at least ones degree of freedom of the described positioner paving head installed part (16) more described than at least one of at least one described creel installed part (18).
9., for fiber band is laid a method from the teeth outwards automatically, described method is particularly used for controlling according to a described laying apparatus (1) in aforementioned claim, wherein,
Paving head (8) and creel (10) are arranged on the positioner (22) that can be independently controlled, and described creel (1) follows the trail of the motion of paving head (8).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013223851.7A DE102013223851A1 (en) | 2013-11-21 | 2013-11-21 | Laying device and method for depositing slivers |
| DE102013223851.7 | 2013-11-21 | ||
| PCT/EP2014/075040 WO2015075079A2 (en) | 2013-11-21 | 2014-11-19 | A laying device and a method for the laying down of fibre tapes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105745061A true CN105745061A (en) | 2016-07-06 |
| CN105745061B CN105745061B (en) | 2018-03-16 |
Family
ID=51987140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480063656.6A Active CN105745061B (en) | 2013-11-21 | 2014-11-19 | Laying apparatus and the method for laying fiber band |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US10189215B2 (en) |
| EP (1) | EP3071398B1 (en) |
| JP (1) | JP2017501902A (en) |
| CN (1) | CN105745061B (en) |
| CA (1) | CA2930022A1 (en) |
| DE (1) | DE102013223851A1 (en) |
| WO (1) | WO2015075079A2 (en) |
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| CN111479673A (en) * | 2017-12-22 | 2020-07-31 | 慕贝尔碳纤维技术有限公司 | Fiber tape laying system |
| CN111655465A (en) * | 2017-11-21 | 2020-09-11 | 通用电气公司 | Equipment for the manufacture of composite airfoils |
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| DE102015122026A1 (en) * | 2015-12-16 | 2017-06-22 | Automation Steeg & Hoffmeyer Gmbh | Apparatus and method for composing fiber-plastic composites with high application rates |
| US10155367B2 (en) * | 2015-12-29 | 2018-12-18 | The Boeing Company | Coordinated composite tape laying |
| DE102016213161A1 (en) | 2016-07-19 | 2018-01-25 | Bayerische Motoren Werke Aktiengesellschaft | A method of applying a fiber matrix tape to a metal structural member of a vehicle |
| FR3054476B1 (en) * | 2016-07-27 | 2020-01-17 | Institut De Recherche Technologique Jules Verne | DEVICE AND METHOD FOR MANUFACTURING A FIBROUS PREFORM |
| JP7188880B2 (en) * | 2017-12-05 | 2022-12-13 | オークマ株式会社 | Machine Tools |
| JP6924685B2 (en) * | 2017-12-06 | 2021-08-25 | 三菱重工業株式会社 | Composite material molding method |
| JP6991898B2 (en) * | 2018-03-13 | 2022-02-03 | 三菱重工業株式会社 | Composite material laminating equipment and composite material laminating method |
| EP3871862A1 (en) * | 2020-02-28 | 2021-09-01 | Tsudakoma Kogyo Kabushiki Kaisha | Automated fiber bundle placement apparatus |
| JP7535422B2 (en) | 2020-02-28 | 2024-08-16 | 津田駒工業株式会社 | Automatic fiber bundle placement device |
| JP7523300B2 (en) | 2020-02-28 | 2024-07-26 | 津田駒工業株式会社 | Automatic fiber bundle placement device |
| EP3871861B1 (en) * | 2020-02-28 | 2024-08-07 | Tsudakoma Kogyo Kabushiki Kaisha | Automated fiber bundle placement apparatus |
| JP7408480B2 (en) * | 2020-05-11 | 2024-01-05 | 津田駒工業株式会社 | Automatic fiber bundle placement device |
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| US4735672A (en) * | 1982-05-27 | 1988-04-05 | Lockheed Corporation | Automated fiber lay-up machine |
| WO2003039817A1 (en) * | 2001-11-07 | 2003-05-15 | Kawasaki Jukogyo Kabushiki Kaisha | Robot collaboration control system |
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| CN1857877A (en) * | 2005-05-06 | 2006-11-08 | 美国发那科机器人有限公司 | Roboter-mehrarm-steuerungssystem |
| DE102006011341A1 (en) * | 2006-03-09 | 2007-09-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Mounting arrangement for mounting e.g. tire, at e.g. vehicle, has conveying device for moving base part, industrial robot with manipulator for connecting attachment part to base part, and system controller controlling and regulating robot |
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| US4419170A (en) * | 1982-05-27 | 1983-12-06 | Lockheed Corporation | Automated lay-up machine |
| US4869774A (en) * | 1988-09-26 | 1989-09-26 | Cincinnati Milacron Inc. | Compliant presser member for fiber placement machine |
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| ES2212878B1 (en) * | 2002-03-05 | 2005-07-16 | Manuel Torres Martinez | MULTI-APPLICATOR HEAD OF FIBER STRIPS. |
| US7472736B2 (en) * | 2005-02-14 | 2009-01-06 | The Boeing Company | Modular head lamination device and method |
| EP1757434B1 (en) * | 2005-08-25 | 2014-12-17 | Ingersoll Machine Tools, Inc. | Replaceable creel in a fiber placement machine |
| CA2701896A1 (en) * | 2007-10-16 | 2009-04-23 | Ingersoll Machine Tools, Inc. | Fiber placement machine platform system having interchangeable head and creel assemblies |
| US20100200168A1 (en) * | 2009-02-06 | 2010-08-12 | Ingersoll Machine Tools, Inc. | Fiber delivery apparatus and system having a creel and fiber placement head sans fiber redirect |
| DE102010013711A1 (en) * | 2010-04-02 | 2011-10-06 | Airbus Operations Gmbh | Pressure roller unit for depositing pre-impregnated slivers on a surface and depositing device |
| DE102010015199B9 (en) * | 2010-04-16 | 2013-08-01 | Compositence Gmbh | Fiber guiding device and apparatus for constructing a three-dimensional preform |
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2013
- 2013-11-21 DE DE102013223851.7A patent/DE102013223851A1/en not_active Withdrawn
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2014
- 2014-11-19 CA CA2930022A patent/CA2930022A1/en not_active Abandoned
- 2014-11-19 EP EP14803083.6A patent/EP3071398B1/en active Active
- 2014-11-19 WO PCT/EP2014/075040 patent/WO2015075079A2/en active Application Filing
- 2014-11-19 JP JP2016533199A patent/JP2017501902A/en active Pending
- 2014-11-19 CN CN201480063656.6A patent/CN105745061B/en active Active
- 2014-11-19 US US15/037,921 patent/US10189215B2/en active Active
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| US4735672A (en) * | 1982-05-27 | 1988-04-05 | Lockheed Corporation | Automated fiber lay-up machine |
| WO2003039817A1 (en) * | 2001-11-07 | 2003-05-15 | Kawasaki Jukogyo Kabushiki Kaisha | Robot collaboration control system |
| US20050247396A1 (en) * | 2004-04-21 | 2005-11-10 | Ingersoll Machine Tools, Inc. | Automated fiber placement using multiple placement heads, replaceable creels, and replaceable placement heads |
| CN1857877A (en) * | 2005-05-06 | 2006-11-08 | 美国发那科机器人有限公司 | Roboter-mehrarm-steuerungssystem |
| DE102006011341A1 (en) * | 2006-03-09 | 2007-09-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Mounting arrangement for mounting e.g. tire, at e.g. vehicle, has conveying device for moving base part, industrial robot with manipulator for connecting attachment part to base part, and system controller controlling and regulating robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111655465A (en) * | 2017-11-21 | 2020-09-11 | 通用电气公司 | Equipment for the manufacture of composite airfoils |
| CN111655465B (en) * | 2017-11-21 | 2022-09-20 | 通用电气公司 | Apparatus for manufacturing composite airfoils |
| CN111479673A (en) * | 2017-12-22 | 2020-07-31 | 慕贝尔碳纤维技术有限公司 | Fiber tape laying system |
| CN111479673B (en) * | 2017-12-22 | 2022-03-29 | 慕贝尔碳纤维技术有限公司 | Production line and method for producing products made of fiber-reinforced plastic |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015075079A3 (en) | 2015-08-20 |
| EP3071398B1 (en) | 2018-06-27 |
| JP2017501902A (en) | 2017-01-19 |
| DE102013223851A1 (en) | 2015-05-21 |
| EP3071398A2 (en) | 2016-09-28 |
| US10189215B2 (en) | 2019-01-29 |
| WO2015075079A2 (en) | 2015-05-28 |
| US20160288430A1 (en) | 2016-10-06 |
| CA2930022A1 (en) | 2015-05-28 |
| CN105745061B (en) | 2018-03-16 |
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